source /opt/ros/foxy/setup.bash
source ~/cyclonedds_ws/install/setup.bash;
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp;
export CYCLONEDDS_URI=~/cyclonedds_ws/cyclonedds.xml;
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH;

source /opt/ros/noetic/setup.bash
source install/setup.bash
ros2 launch control control_tcp.launch.py
